cmake_minimum_required(VERSION 2.8.3)
project(nav2d_operator)

## Find catkin macros and libraries
find_package(catkin REQUIRED COMPONENTS
  roscpp
  message_generation
  tf
  tf2_ros
  costmap_2d
  sensor_msgs
)

################################################
## Declare ROS messages, services and actions ##
################################################

## Generate messages in the 'msg' folder
add_message_files(FILES cmd.msg)

## Generate added messages and services with any dependencies listed here
generate_messages()

###################################
## catkin specific configuration ##
###################################
catkin_package(
  INCLUDE_DIRS include
  LIBRARIES RobotOperator
  CATKIN_DEPENDS roscpp message_runtime tf costmap_2d sensor_msgs
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(include ${catkin_INCLUDE_DIRS})

## Declare a cpp library
add_library(RobotOperator src/RobotOperator.cpp)
target_link_libraries(RobotOperator ${catkin_LIBRARIES})

## Declare a cpp executable
add_executable(operator src/node.cpp)
target_link_libraries(operator RobotOperator)

## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
add_dependencies(RobotOperator nav2d_operator_generate_messages_cpp ${catkin_EXPORTED_TARGETS})


#############
## Install ##
#############

## Mark executables and/or libraries for installation
install(TARGETS RobotOperator operator
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
   FILES_MATCHING PATTERN "*.h"
)

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_robot_operator.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
